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<div class="title">shot.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_IMPL_SHOT_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_FEATURES_IMPL_SHOT_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/features/shot.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/shot_lrf.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment">// Useful constants.</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#define PST_PI 3.1415926535897932384626433832795</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#define PST_RAD_45 0.78539816339744830961566084581988</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#define PST_RAD_90 1.5707963267948966192313216916398</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#define PST_RAD_135 2.3561944901923449288469825374596</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#define PST_RAD_180 PST_PI</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#define PST_RAD_360 6.283185307179586476925286766558</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#define PST_RAD_PI_7_8 2.7488935718910690836548129603691</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> zeroDoubleEps15 = 1E-15;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">const</span> <span class="keywordtype">float</span> zeroFloatEps8 = 1E-8f;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;areEquals (<span class="keywordtype">double</span> val1, <span class="keywordtype">double</span> val2, <span class="keywordtype">double</span> zeroDoubleEps = zeroDoubleEps15)</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;{</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keywordflow">return</span> (fabs (val1 - val2)&lt;zeroDoubleEps);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;}</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;areEquals (<span class="keywordtype">float</span> val1, <span class="keywordtype">float</span> val2, <span class="keywordtype">float</span> zeroFloatEps = zeroFloatEps8)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;{</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordflow">return</span> (fabs (val1 - val2)&lt;zeroFloatEps);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;}</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html">pcl::SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::sRGB_LUT</a>[256] = {- 1};</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html">pcl::SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::sXYZ_LUT</a>[4000] = {- 1};</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation.html#aaab0f015a6f8f926ef2695ba272b4f18">   97</a></span>&#160;<a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html#aaab0f015a6f8f926ef2695ba272b4f18">pcl::SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::RGB2CIELAB</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> R, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> G,</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                                                                              <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> B, <span class="keywordtype">float</span> &amp;L, <span class="keywordtype">float</span> &amp;A,</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                                                                              <span class="keywordtype">float</span> &amp;B2)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;{</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordflow">if</span> (sRGB_LUT[0] &lt; 0)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 256; i++)</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keywordtype">float</span> f = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (i) / 255.0f;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keywordflow">if</span> (f &gt; 0.04045)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        sRGB_LUT[i] = powf ((f + 0.055f) / 1.055f, 2.4f);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        sRGB_LUT[i] = f / 12.92f;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 4000; i++)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keywordtype">float</span> f = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (i) / 4000.0f;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keywordflow">if</span> (f &gt; 0.008856)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        sXYZ_LUT[i] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (powf (f, 0.3333f));</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        sXYZ_LUT[i] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>((7.787 * f) + (16.0 / 116.0));</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordtype">float</span> fr = sRGB_LUT[R];</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="keywordtype">float</span> fg = sRGB_LUT[G];</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keywordtype">float</span> fb = sRGB_LUT[B];</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="comment">// Use white = D65</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> x = fr * 0.412453f + fg * 0.357580f + fb * 0.180423f;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> y = fr * 0.212671f + fg * 0.715160f + fb * 0.072169f;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> z = fr * 0.019334f + fg * 0.119193f + fb * 0.950227f;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keywordtype">float</span> vx = x / 0.95047f;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordtype">float</span> vy = y;</div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#a5e9c4e5f19878d636ce2c6b28c636fd2">  133</a></span>&#160;  <span class="keywordtype">float</span> vz = z / 1.08883f;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  vx = sXYZ_LUT[int(vx*4000)];</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  vy = sXYZ_LUT[int(vy*4000)];</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  vz = sXYZ_LUT[int(vz*4000)];</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  L = 116.0f * vy - 16.0f;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keywordflow">if</span> (L &gt; 100)</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    L = 100.0f;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  A = 500.0f * (vx - vy);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keywordflow">if</span> (A &gt; 120)</div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#aa83ce6c4529df2561a45f129354ef935">  145</a></span>&#160;    A = 120.0f;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (A &lt;- 120)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    A = -120.0f;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  B2 = 200.0f * (vy - vz);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="keywordflow">if</span> (B2 &gt; 120)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    B2 = 120.0f;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (B2&lt;- 120)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    B2 = -120.0f;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;}</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#a61daefe73f28310f3c97a561b905c2ef">  157</a></span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#a5e9c4e5f19878d636ce2c6b28c636fd2">  158</a></span>&#160;<a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#a5e9c4e5f19878d636ce2c6b28c636fd2">pcl::SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;{</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::initCompute</a> ())</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  {</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] Init failed.\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#ae69b1265449ec2c727f54e4308d6178d">  166</a></span>&#160;  <span class="comment">// SHOT cannot work with k-search</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="keywordflow">if</span> (this-&gt;getKSearch () != 0)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    PCL_ERROR(</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="stringliteral">&quot;[pcl::%s::initCompute] Error! Search method set to k-neighborhood. Call setKSearch(0) and setRadiusSearch( radius ) to use this class.\n&quot;</span>,</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      getClassName().c_str ());</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="comment">// Default LRF estimation alg: SHOTLocalReferenceFrameEstimation</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="keyword">typename</span> SHOTLocalReferenceFrameEstimation&lt;PointInT, PointRFT&gt;::Ptr lrf_estimator(<span class="keyword">new</span> <a class="code" href="classpcl_1_1_s_h_o_t_local_reference_frame_estimation.html">SHOTLocalReferenceFrameEstimation&lt;PointInT, PointRFT&gt;</a>());</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  lrf_estimator-&gt;setRadiusSearch ((lrf_radius_ &gt; 0 ? lrf_radius_ : search_radius_));</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  lrf_estimator-&gt;setInputCloud (input_);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  lrf_estimator-&gt;setIndices (indices_);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordflow">if</span> (!fake_surface_)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    lrf_estimator-&gt;setSearchSurface(surface_);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html">FeatureWithLocalReferenceFrames&lt;PointInT, PointRFT&gt;::initLocalReferenceFrames</a> (indices_-&gt;size (), lrf_estimator))</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  {</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] Init failed.\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  }</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;}</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#ae69b1265449ec2c727f54e4308d6178d">  194</a></span>&#160;<a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#ae69b1265449ec2c727f54e4308d6178d">pcl::SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::createBinDistanceShape</a> (</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="keywordtype">int</span> index,</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    std::vector&lt;double&gt; &amp;bin_distance_shape)</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;{</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  bin_distance_shape.resize (indices.size ());</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="keyword">const</span> PointRFT&amp; current_frame = frames_-&gt;points[index];</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="comment">//if (!pcl_isfinite (current_frame.rf[0]) || !pcl_isfinite (current_frame.rf[4]) || !pcl_isfinite (current_frame.rf[11]))</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="comment">//return;</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  Eigen::Vector4f current_frame_z (current_frame.z_axis[0], current_frame.z_axis[1], current_frame.z_axis[2], 0);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="keywordtype">unsigned</span> nan_counter = 0;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i_idx = 0; i_idx &lt; indices.size (); ++i_idx)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="comment">// check NaN normal</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keyword">const</span> Eigen::Vector4f&amp; normal_vec = normals_-&gt;points[indices[i_idx]].getNormalVector4fMap ();</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="keywordflow">if</span> (!pcl_isfinite (normal_vec[0]) ||</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        !pcl_isfinite (normal_vec[1]) ||</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        !pcl_isfinite (normal_vec[2]))</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    {</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      bin_distance_shape[i_idx] = std::numeric_limits&lt;double&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      ++nan_counter;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    {</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      <span class="comment">//double cosineDesc = feat[i].rf[6]*normal[0] + feat[i].rf[7]*normal[1] + feat[i].rf[8]*normal[2];</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="keywordtype">double</span> cosineDesc = normal_vec.dot (current_frame_z);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keywordflow">if</span> (cosineDesc &gt; 1.0)</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        cosineDesc = 1.0;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keywordflow">if</span> (cosineDesc &lt; - 1.0)</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        cosineDesc = - 1.0;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      bin_distance_shape[i_idx] = ((1.0 + cosineDesc) * nr_shape_bins_) / 2;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    }</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  }</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <span class="keywordflow">if</span> (nan_counter &gt; 0)</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::%s::createBinDistanceShape] Point %d has %d (%f%%) NaN normals in its neighbourhood\n&quot;</span>,</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      getClassName ().c_str (), index, nan_counter, (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(nan_counter)*100.f/<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(indices.size ())));</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;}</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#a61daefe73f28310f3c97a561b905c2ef">  238</a></span>&#160;<a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#a61daefe73f28310f3c97a561b905c2ef">pcl::SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::normalizeHistogram</a> (</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    Eigen::VectorXf &amp;shot, <span class="keywordtype">int</span> desc_length)</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;{</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <span class="comment">// Normalization is performed by considering the L2 norm</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="comment">// and not the sum of bins, as reported in the ECCV paper.</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="comment">// This is due to additional experiments performed by the authors after its pubblication,</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="comment">// where L2 normalization turned out better at handling point density variations.</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="keywordtype">double</span> acc_norm = 0;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; desc_length; j++)</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    acc_norm += shot[j] * shot[j];</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  acc_norm = sqrt (acc_norm);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; desc_length; j++)</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    shot[j] /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (acc_norm);</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;}</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#aa83ce6c4529df2561a45f129354ef935">  255</a></span>&#160;<a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#aa83ce6c4529df2561a45f129354ef935">pcl::SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::interpolateSingleChannel</a> (</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    <span class="keyword">const</span> std::vector&lt;float&gt; &amp;sqr_dists,</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> index,</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    std::vector&lt;double&gt; &amp;binDistance,</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> nr_bins,</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    Eigen::VectorXf &amp;shot)</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;{</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  <span class="keyword">const</span> Eigen::Vector4f&amp; central_point = (*input_)[(*indices_)[index]].getVector4fMap ();</div>
<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation.html#ab203706a9af671e21552149fbc58bfdf">  264</a></span>&#160;  <span class="keyword">const</span> PointRFT&amp; current_frame = (*frames_)[index];</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  Eigen::Vector4f current_frame_x (current_frame.x_axis[0], current_frame.x_axis[1], current_frame.x_axis[2], 0);</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  Eigen::Vector4f current_frame_y (current_frame.y_axis[0], current_frame.y_axis[1], current_frame.y_axis[2], 0);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  Eigen::Vector4f current_frame_z (current_frame.z_axis[0], current_frame.z_axis[1], current_frame.z_axis[2], 0);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i_idx = 0; i_idx &lt; indices.size (); ++i_idx)</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  {</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    <span class="keywordflow">if</span> (!pcl_isfinite(binDistance[i_idx]))</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation.html#a0f63f9aa8314e493db68a5ed89ec44f8">  275</a></span>&#160;    Eigen::Vector4f delta = surface_-&gt;points[indices[i_idx]].getVector4fMap () - central_point;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    delta[3] = 0;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    <span class="comment">// Compute the Euclidean norm</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;   <span class="keywordtype">double</span> distance = sqrt (sqr_dists[i_idx]);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    <span class="keywordflow">if</span> (areEquals (distance, 0.0))</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="keywordtype">double</span> xInFeatRef = delta.dot (current_frame_x);</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <span class="keywordtype">double</span> yInFeatRef = delta.dot (current_frame_y);</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    <span class="keywordtype">double</span> zInFeatRef = delta.dot (current_frame_z);</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <span class="comment">// To avoid numerical problems afterwards</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="keywordflow">if</span> (fabs (yInFeatRef) &lt; 1E-30)</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      yInFeatRef  = 0;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <span class="keywordflow">if</span> (fabs (xInFeatRef) &lt; 1E-30)</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      xInFeatRef  = 0;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="keywordflow">if</span> (fabs (zInFeatRef) &lt; 1E-30)</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      zInFeatRef  = 0;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> bit4 = ((yInFeatRef &gt; 0) || ((yInFeatRef == 0.0) &amp;&amp; (xInFeatRef &lt; 0))) ? 1 : 0;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> bit3 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (((xInFeatRef &gt; 0) || ((xInFeatRef == 0.0) &amp;&amp; (yInFeatRef &gt; 0))) ? !bit4 : bit4);</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    assert (bit3 == 0 || bit3 == 1);</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keywordtype">int</span> desc_index = (bit4&lt;&lt;3) + (bit3&lt;&lt;2);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    desc_index = desc_index &lt;&lt; 1;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    <span class="keywordflow">if</span> ((xInFeatRef * yInFeatRef &gt; 0) || (xInFeatRef == 0.0))</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      desc_index += (fabs (xInFeatRef) &gt;= fabs (yInFeatRef)) ? 0 : 4;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      desc_index += (fabs (xInFeatRef) &gt; fabs (yInFeatRef)) ? 4 : 0;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    desc_index += zInFeatRef &gt; 0 ? 1 : 0;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="comment">// 2 RADII</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    desc_index += (distance &gt; radius1_2_) ? 2 : 0;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="keywordtype">int</span> step_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor (binDistance[i_idx] +0.5));</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    <span class="keywordtype">int</span> volume_index = desc_index * (nr_bins+1);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="comment">//Interpolation on the cosine (adjacent bins in the histogram)</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    binDistance[i_idx] -= step_index;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keywordtype">double</span> intWeight = (1- fabs (binDistance[i_idx]));</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    <span class="keywordflow">if</span> (binDistance[i_idx] &gt; 0)</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      shot[volume_index + ((step_index+1) % nr_bins)] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (binDistance[i_idx]);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      shot[volume_index + ((step_index - 1 + nr_bins) % nr_bins)] += - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (binDistance[i_idx]);</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    <span class="comment">//Interpolation on the distance (adjacent husks)</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    <span class="keywordflow">if</span> (distance &gt; radius1_2_)   <span class="comment">//external sphere</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    {</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      <span class="keywordtype">double</span> radiusDistance = (distance - radius3_4_) / radius1_2_;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      <span class="keywordflow">if</span> (distance &gt; radius3_4_) <span class="comment">//most external sector, votes only for itself</span></div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        intWeight += 1 - radiusDistance;  <span class="comment">//peso=1-d</span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      <span class="keywordflow">else</span>  <span class="comment">//3/4 of radius, votes also for the internal sphere</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      {</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        intWeight += 1 + radiusDistance;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;        shot[(desc_index - 2) * (nr_bins+1) + step_index] -= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (radiusDistance);</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      }</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    }</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    <span class="keywordflow">else</span>    <span class="comment">//internal sphere</span></div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    {</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      <span class="keywordtype">double</span> radiusDistance = (distance - radius1_4_) / radius1_2_;</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      <span class="keywordflow">if</span> (distance &lt; radius1_4_) <span class="comment">//most internal sector, votes only for itself</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;        intWeight += 1 + radiusDistance;  <span class="comment">//weight=1-d</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      <span class="keywordflow">else</span>  <span class="comment">//3/4 of radius, votes also for the external sphere</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      {</div>
<div class="line"><a name="l00350"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation.html#aa2795a6b04586ac3b1a551a5b7b05aef">  350</a></span>&#160;        intWeight += 1 - radiusDistance;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        shot[(desc_index + 2) * (nr_bins+1) + step_index] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (radiusDistance);</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      }</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    }</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    <span class="comment">//Interpolation on the inclination (adjacent vertical volumes)</span></div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    <span class="keywordtype">double</span> inclinationCos = zInFeatRef / distance;</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    <span class="keywordflow">if</span> (inclinationCos &lt; - 1.0)</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      inclinationCos = - 1.0;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;    <span class="keywordflow">if</span> (inclinationCos &gt; 1.0)</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      inclinationCos = 1.0;</div>
<div class="line"><a name="l00361"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation.html#a0bcbce40ea2c5ed9df98148e62261e49">  361</a></span>&#160; </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    <span class="keywordtype">double</span> inclination = acos (inclinationCos);</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    assert (inclination &gt;= 0.0 &amp;&amp; inclination &lt;= PST_RAD_180);</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160; </div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    <span class="keywordflow">if</span> (inclination &gt; PST_RAD_90 || (fabs (inclination - PST_RAD_90) &lt; 1e-30 &amp;&amp; zInFeatRef &lt;= 0))</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    {</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      <span class="keywordtype">double</span> inclinationDistance = (inclination - PST_RAD_135) / PST_RAD_90;</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      <span class="keywordflow">if</span> (inclination &gt; PST_RAD_135)</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;        intWeight += 1 - inclinationDistance;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;      {</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        intWeight += 1 + inclinationDistance;</div>
<div class="line"><a name="l00374"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation.html#a00c3aac15b5c3380c00af9d77503ee5b">  374</a></span>&#160;        assert ((desc_index + 1) * (nr_bins+1) + step_index &gt;= 0 &amp;&amp; (desc_index + 1) * (nr_bins+1) + step_index &lt; descLength_);</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;        shot[(desc_index + 1) * (nr_bins+1) + step_index] -= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (inclinationDistance);</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      }</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    }</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;    {</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;      <span class="keywordtype">double</span> inclinationDistance = (inclination - PST_RAD_45) / PST_RAD_90;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;      <span class="keywordflow">if</span> (inclination &lt; PST_RAD_45)</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;        intWeight += 1 + inclinationDistance;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      {</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;        intWeight += 1 - inclinationDistance;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;        assert ((desc_index - 1) * (nr_bins+1) + step_index &gt;= 0 &amp;&amp; (desc_index - 1) * (nr_bins+1) + step_index &lt; descLength_);</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;        shot[(desc_index - 1) * (nr_bins+1) + step_index] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (inclinationDistance);</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;      }</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    }</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; </div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    <span class="keywordflow">if</span> (yInFeatRef != 0.0 || xInFeatRef != 0.0)</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    {</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      <span class="comment">//Interpolation on the azimuth (adjacent horizontal volumes)</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      <span class="keywordtype">double</span> azimuth = atan2 (yInFeatRef, xInFeatRef);</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160; </div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      <span class="keywordtype">int</span> sel = desc_index &gt;&gt; 2;</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      <span class="keywordtype">double</span> angularSectorSpan = PST_RAD_45;</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      <span class="keywordtype">double</span> angularSectorStart = - PST_RAD_PI_7_8;</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160; </div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      <span class="keywordtype">double</span> azimuthDistance = (azimuth - (angularSectorStart + angularSectorSpan*sel)) / angularSectorSpan;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160; </div>
<div class="line"><a name="l00402"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation.html#aaab0f015a6f8f926ef2695ba272b4f18">  402</a></span>&#160;      assert ((azimuthDistance &lt; 0.5 || areEquals (azimuthDistance, 0.5)) &amp;&amp; (azimuthDistance &gt; - 0.5 || areEquals (azimuthDistance, - 0.5)));</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;      azimuthDistance = (std::max)(- 0.5, std::min (azimuthDistance, 0.5));</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160; </div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;      <span class="keywordflow">if</span> (azimuthDistance &gt; 0)</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      {</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;        intWeight += 1 - azimuthDistance;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;        <span class="keywordtype">int</span> interp_index = (desc_index + 4) % maxAngularSectors_;</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;        assert (interp_index * (nr_bins+1) + step_index &gt;= 0 &amp;&amp; interp_index * (nr_bins+1) + step_index &lt; descLength_);</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;        shot[interp_index * (nr_bins+1) + step_index] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (azimuthDistance);</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      }</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      {</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;        <span class="keywordtype">int</span> interp_index = (desc_index - 4 + maxAngularSectors_) % maxAngularSectors_;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;        assert (interp_index * (nr_bins+1) + step_index &gt;= 0 &amp;&amp; interp_index * (nr_bins+1) + step_index &lt; descLength_);</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;        intWeight += 1 + azimuthDistance;</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;        shot[interp_index * (nr_bins+1) + step_index] -= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (azimuthDistance);</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;      }</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;    }</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160; </div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;    assert (volume_index + step_index &gt;= 0 &amp;&amp;  volume_index + step_index &lt; descLength_);</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    shot[volume_index + step_index] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (intWeight);</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  }</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;}</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00430"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation.html#a00c3aac15b5c3380c00af9d77503ee5b">  430</a></span>&#160;<a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html#a00c3aac15b5c3380c00af9d77503ee5b">pcl::SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::interpolateDoubleChannel</a> (</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;  <span class="keyword">const</span> std::vector&lt;float&gt; &amp;sqr_dists,</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> index,</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;  std::vector&lt;double&gt; &amp;binDistanceShape,</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  std::vector&lt;double&gt; &amp;binDistanceColor,</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> nr_bins_shape,</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> nr_bins_color,</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;  Eigen::VectorXf &amp;shot)</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;{</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;  <span class="keyword">const</span> Eigen::Vector4f &amp;central_point = (*input_)[(*indices_)[index]].getVector4fMap ();</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  <span class="keyword">const</span> PointRFT&amp; current_frame = (*frames_)[index];</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160; </div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;  <span class="keywordtype">int</span> shapeToColorStride = nr_grid_sector_*(nr_bins_shape+1);</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160; </div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;  Eigen::Vector4f current_frame_x (current_frame.x_axis[0], current_frame.x_axis[1], current_frame.x_axis[2], 0);</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  Eigen::Vector4f current_frame_y (current_frame.y_axis[0], current_frame.y_axis[1], current_frame.y_axis[2], 0);</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  Eigen::Vector4f current_frame_z (current_frame.z_axis[0], current_frame.z_axis[1], current_frame.z_axis[2], 0);</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160; </div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i_idx = 0; i_idx &lt; indices.size (); ++i_idx)</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  {</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    <span class="keywordflow">if</span> (!pcl_isfinite(binDistanceShape[i_idx]))</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160; </div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    Eigen::Vector4f delta = surface_-&gt;points[indices[i_idx]].getVector4fMap () - central_point;</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    delta[3] = 0;</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160; </div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    <span class="comment">// Compute the Euclidean norm</span></div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    <span class="keywordtype">double</span> distance = sqrt (sqr_dists[i_idx]);</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    <span class="keywordflow">if</span> (areEquals (distance, 0.0))</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160; </div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    <span class="keywordtype">double</span> xInFeatRef = delta.dot (current_frame_x);</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;    <span class="keywordtype">double</span> yInFeatRef = delta.dot (current_frame_y);</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    <span class="keywordtype">double</span> zInFeatRef = delta.dot (current_frame_z);</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160; </div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;    <span class="comment">// To avoid numerical problems afterwards</span></div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;    <span class="keywordflow">if</span> (fabs (yInFeatRef) &lt; 1E-30)</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;      yInFeatRef  = 0;</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;    <span class="keywordflow">if</span> (fabs (xInFeatRef) &lt; 1E-30)</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;      xInFeatRef  = 0;</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;    <span class="keywordflow">if</span> (fabs (zInFeatRef) &lt; 1E-30)</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;      zInFeatRef  = 0;</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160; </div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> bit4 = ((yInFeatRef &gt; 0) || ((yInFeatRef == 0.0) &amp;&amp; (xInFeatRef &lt; 0))) ? 1 : 0;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> bit3 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (((xInFeatRef &gt; 0) || ((xInFeatRef == 0.0) &amp;&amp; (yInFeatRef &gt; 0))) ? !bit4 : bit4);</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160; </div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;    assert (bit3 == 0 || bit3 == 1);</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160; </div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    <span class="keywordtype">int</span> desc_index = (bit4&lt;&lt;3) + (bit3&lt;&lt;2);</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160; </div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;    desc_index = desc_index &lt;&lt; 1;</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160; </div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;    <span class="keywordflow">if</span> ((xInFeatRef * yInFeatRef &gt; 0) || (xInFeatRef == 0.0))</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;      desc_index += (fabs (xInFeatRef) &gt;= fabs (yInFeatRef)) ? 0 : 4;</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;      desc_index += (fabs (xInFeatRef) &gt; fabs (yInFeatRef)) ? 4 : 0;</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;    desc_index += zInFeatRef &gt; 0 ? 1 : 0;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160; </div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;    <span class="comment">// 2 RADII</span></div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;    desc_index += (distance &gt; radius1_2_) ? 2 : 0;</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160; </div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;    <span class="keywordtype">int</span> step_index_shape = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor (binDistanceShape[i_idx] +0.5));</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    <span class="keywordtype">int</span> step_index_color = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(floor (binDistanceColor[i_idx] +0.5));</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160; </div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;    <span class="keywordtype">int</span> volume_index_shape = desc_index * (nr_bins_shape+1);</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;    <span class="keywordtype">int</span> volume_index_color = shapeToColorStride + desc_index * (nr_bins_color+1);</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160; </div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;    <span class="comment">//Interpolation on the cosine (adjacent bins in the histrogram)</span></div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;    binDistanceShape[i_idx] -= step_index_shape;</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;    binDistanceColor[i_idx] -= step_index_color;</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160; </div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;    <span class="keywordtype">double</span> intWeightShape = (1- fabs (binDistanceShape[i_idx]));</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;    <span class="keywordtype">double</span> intWeightColor = (1- fabs (binDistanceColor[i_idx]));</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160; </div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;    <span class="keywordflow">if</span> (binDistanceShape[i_idx] &gt; 0)</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;      shot[volume_index_shape + ((step_index_shape + 1) % nr_bins_shape)] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (binDistanceShape[i_idx]);</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      shot[volume_index_shape + ((step_index_shape - 1 + nr_bins_shape) % nr_bins_shape)] -= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (binDistanceShape[i_idx]);</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160; </div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    <span class="keywordflow">if</span> (binDistanceColor[i_idx] &gt; 0)</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;      shot[volume_index_color + ((step_index_color+1) % nr_bins_color)] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (binDistanceColor[i_idx]);</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      shot[volume_index_color + ((step_index_color - 1 + nr_bins_color) % nr_bins_color)] -= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (binDistanceColor[i_idx]);</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160; </div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;    <span class="comment">//Interpolation on the distance (adjacent husks)</span></div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160; </div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;    <span class="keywordflow">if</span> (distance &gt; radius1_2_)   <span class="comment">//external sphere</span></div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;    {</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;      <span class="keywordtype">double</span> radiusDistance = (distance - radius3_4_) / radius1_2_;</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160; </div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;      <span class="keywordflow">if</span> (distance &gt; radius3_4_) <span class="comment">//most external sector, votes only for itself</span></div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      {</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;        intWeightShape += 1 - radiusDistance; <span class="comment">//weight=1-d</span></div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;        intWeightColor += 1 - radiusDistance; <span class="comment">//weight=1-d</span></div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;      }</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;      <span class="keywordflow">else</span>  <span class="comment">//3/4 of radius, votes also for the internal sphere</span></div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;      {</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;        intWeightShape += 1 + radiusDistance;</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;        intWeightColor += 1 + radiusDistance;</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;        shot[(desc_index - 2) * (nr_bins_shape+1) + step_index_shape] -= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (radiusDistance);</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;        shot[shapeToColorStride + (desc_index - 2) * (nr_bins_color+1) + step_index_color] -= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (radiusDistance);</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;      }</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;    }</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;    <span class="keywordflow">else</span>    <span class="comment">//internal sphere</span></div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;    {</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;      <span class="keywordtype">double</span> radiusDistance = (distance - radius1_4_) / radius1_2_;</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160; </div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;      <span class="keywordflow">if</span> (distance &lt; radius1_4_) <span class="comment">//most internal sector, votes only for itself</span></div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;      {</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;        intWeightShape += 1 + radiusDistance;</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;        intWeightColor += 1 + radiusDistance; <span class="comment">//weight=1-d</span></div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      }</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;      <span class="keywordflow">else</span>  <span class="comment">//3/4 of radius, votes also for the external sphere</span></div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;      {</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;        intWeightShape += 1 - radiusDistance; <span class="comment">//weight=1-d</span></div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;        intWeightColor += 1 - radiusDistance; <span class="comment">//weight=1-d</span></div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;        shot[(desc_index + 2) * (nr_bins_shape+1) + step_index_shape] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (radiusDistance);</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;        shot[shapeToColorStride + (desc_index + 2) * (nr_bins_color+1) + step_index_color] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (radiusDistance);</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;      }</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;    }</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160; </div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;    <span class="comment">//Interpolation on the inclination (adjacent vertical volumes)</span></div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;    <span class="keywordtype">double</span> inclinationCos = zInFeatRef / distance;</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;    <span class="keywordflow">if</span> (inclinationCos &lt; - 1.0)</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;      inclinationCos = - 1.0;</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;    <span class="keywordflow">if</span> (inclinationCos &gt; 1.0)</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;      inclinationCos = 1.0;</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160; </div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;    <span class="keywordtype">double</span> inclination = acos (inclinationCos);</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160; </div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;    assert (inclination &gt;= 0.0 &amp;&amp; inclination &lt;= PST_RAD_180);</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160; </div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;    <span class="keywordflow">if</span> (inclination &gt; PST_RAD_90 || (fabs (inclination - PST_RAD_90) &lt; 1e-30 &amp;&amp; zInFeatRef &lt;= 0))</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;    {</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;      <span class="keywordtype">double</span> inclinationDistance = (inclination - PST_RAD_135) / PST_RAD_90;</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;      <span class="keywordflow">if</span> (inclination &gt; PST_RAD_135)</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;      {</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;        intWeightShape += 1 - inclinationDistance;</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;        intWeightColor += 1 - inclinationDistance;</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;      }</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;      {</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;        intWeightShape += 1 + inclinationDistance;</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;        intWeightColor += 1 + inclinationDistance;</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;        assert ((desc_index + 1) * (nr_bins_shape+1) + step_index_shape &gt;= 0 &amp;&amp; (desc_index + 1) * (nr_bins_shape+1) + step_index_shape &lt; descLength_);</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;        assert (shapeToColorStride + (desc_index + 1) * (nr_bins_color+ 1) + step_index_color &gt;= 0 &amp;&amp; shapeToColorStride + (desc_index + 1) * (nr_bins_color+1) + step_index_color &lt; descLength_);</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;        shot[(desc_index + 1) * (nr_bins_shape+1) + step_index_shape] -= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (inclinationDistance);</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;        shot[shapeToColorStride + (desc_index + 1) * (nr_bins_color+1) + step_index_color] -= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (inclinationDistance);</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;      }</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;    }</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;    {</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;      <span class="keywordtype">double</span> inclinationDistance = (inclination - PST_RAD_45) / PST_RAD_90;</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;      <span class="keywordflow">if</span> (inclination &lt; PST_RAD_45)</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;      {</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;        intWeightShape += 1 + inclinationDistance;</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;        intWeightColor += 1 + inclinationDistance;</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;      }</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;      {</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;        intWeightShape += 1 - inclinationDistance;</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;        intWeightColor += 1 - inclinationDistance;</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;        assert ((desc_index - 1) * (nr_bins_shape+1) + step_index_shape &gt;= 0 &amp;&amp; (desc_index - 1) * (nr_bins_shape+1) + step_index_shape &lt; descLength_);</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;        assert (shapeToColorStride + (desc_index - 1) * (nr_bins_color+ 1) + step_index_color &gt;= 0 &amp;&amp; shapeToColorStride + (desc_index - 1) * (nr_bins_color+1) + step_index_color &lt; descLength_);</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;        shot[(desc_index - 1) * (nr_bins_shape+1) + step_index_shape] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (inclinationDistance);</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;        shot[shapeToColorStride + (desc_index - 1) * (nr_bins_color+1) + step_index_color] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (inclinationDistance);</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;      }</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;    }</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160; </div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;    <span class="keywordflow">if</span> (yInFeatRef != 0.0 || xInFeatRef != 0.0)</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;    {</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;      <span class="comment">//Interpolation on the azimuth (adjacent horizontal volumes)</span></div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;      <span class="keywordtype">double</span> azimuth = atan2 (yInFeatRef, xInFeatRef);</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160; </div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;      <span class="keywordtype">int</span> sel = desc_index &gt;&gt; 2;</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;      <span class="keywordtype">double</span> angularSectorSpan = PST_RAD_45;</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;      <span class="keywordtype">double</span> angularSectorStart = - PST_RAD_PI_7_8;</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160; </div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;      <span class="keywordtype">double</span> azimuthDistance = (azimuth - (angularSectorStart + angularSectorSpan*sel)) / angularSectorSpan;</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;      assert ((azimuthDistance &lt; 0.5 || areEquals (azimuthDistance, 0.5)) &amp;&amp; (azimuthDistance &gt; - 0.5 || areEquals (azimuthDistance, - 0.5)));</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;      azimuthDistance = (std::max)(- 0.5, std::min (azimuthDistance, 0.5));</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160; </div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;      <span class="keywordflow">if</span> (azimuthDistance &gt; 0)</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;      {</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;        intWeightShape += 1 - azimuthDistance;</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;        intWeightColor += 1 - azimuthDistance;</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;        <span class="keywordtype">int</span> interp_index = (desc_index + 4) % maxAngularSectors_;</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;        assert (interp_index * (nr_bins_shape+1) + step_index_shape &gt;= 0 &amp;&amp; interp_index * (nr_bins_shape+1) + step_index_shape &lt; descLength_);</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;        assert (shapeToColorStride + interp_index * (nr_bins_color+1) + step_index_color &gt;= 0 &amp;&amp; shapeToColorStride + interp_index * (nr_bins_color+1) + step_index_color &lt; descLength_);</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;        shot[interp_index * (nr_bins_shape+1) + step_index_shape] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (azimuthDistance);</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;        shot[shapeToColorStride + interp_index * (nr_bins_color+1) + step_index_color] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (azimuthDistance);</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;      }</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;      {</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;        <span class="keywordtype">int</span> interp_index = (desc_index - 4 + maxAngularSectors_) % maxAngularSectors_;</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;        intWeightShape += 1 + azimuthDistance;</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;        intWeightColor += 1 + azimuthDistance;</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;        assert (interp_index * (nr_bins_shape+1) + step_index_shape &gt;= 0 &amp;&amp; interp_index * (nr_bins_shape+1) + step_index_shape &lt; descLength_);</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;        assert (shapeToColorStride + interp_index * (nr_bins_color+1) + step_index_color &gt;= 0 &amp;&amp; shapeToColorStride + interp_index * (nr_bins_color+1) + step_index_color &lt; descLength_);</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;        shot[interp_index * (nr_bins_shape+1) + step_index_shape] -= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (azimuthDistance);</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;        shot[shapeToColorStride + interp_index * (nr_bins_color+1) + step_index_color] -= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (azimuthDistance);</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;      }</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;    }</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160; </div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;    assert (volume_index_shape + step_index_shape &gt;= 0 &amp;&amp;  volume_index_shape + step_index_shape &lt; descLength_);</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;    assert (volume_index_color + step_index_color &gt;= 0 &amp;&amp;  volume_index_color + step_index_color &lt; descLength_);</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    shot[volume_index_shape + step_index_shape] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (intWeightShape);</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;    shot[volume_index_color + step_index_color] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (intWeightColor);</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;  }</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;}</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160; </div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00646"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation.html#aa2795a6b04586ac3b1a551a5b7b05aef">  646</a></span>&#160;<a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html#aa2795a6b04586ac3b1a551a5b7b05aef">pcl::SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::computePointSHOT</a> (</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> index, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, <span class="keyword">const</span> std::vector&lt;float&gt; &amp;sqr_dists, Eigen::VectorXf &amp;shot)</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;{</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;  <span class="comment">// Clear the resultant shot</span></div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;  shot.setZero ();</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;  std::vector&lt;double&gt; binDistanceShape;</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;  std::vector&lt;double&gt; binDistanceColor;</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;  <span class="keywordtype">size_t</span> nNeighbors = indices.size ();</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;  <span class="comment">//Skip the current feature if the number of its neighbors is not sufficient for its description</span></div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;  <span class="keywordflow">if</span> (nNeighbors &lt; 5)</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;  {</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::%s::computePointSHOT] Warning! Neighborhood has less than 5 vertexes. Aborting description of point with index %d\n&quot;</span>,</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;                  getClassName ().c_str (), (*indices_)[index]);</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160; </div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;    shot.setConstant(descLength_, 1, std::numeric_limits&lt;float&gt;::quiet_NaN () );</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160; </div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;  }</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160; </div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;  <span class="comment">//If shape description is enabled, compute the bins activated by each neighbor of the current feature in the shape histogram</span></div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;  <span class="keywordflow">if</span> (b_describe_shape_)</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;  {</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;    this-&gt;createBinDistanceShape (index, indices, binDistanceShape);</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;  }</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160; </div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;  <span class="comment">//If color description is enabled, compute the bins activated by each neighbor of the current feature in the color histogram</span></div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;  <span class="keywordflow">if</span> (b_describe_color_)</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;  {</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;    binDistanceColor.resize (nNeighbors);</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160; </div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;    <span class="comment">//unsigned char redRef = input_-&gt;points[(*indices_)[index]].rgba &gt;&gt; 16 &amp; 0xFF;</span></div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;    <span class="comment">//unsigned char greenRef = input_-&gt;points[(*indices_)[index]].rgba &gt;&gt; 8&amp; 0xFF;</span></div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;    <span class="comment">//unsigned char blueRef = input_-&gt;points[(*indices_)[index]].rgba &amp; 0xFF;</span></div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> redRef = input_-&gt;points[(*indices_)[index]].r;</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> greenRef = input_-&gt;points[(*indices_)[index]].g;</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> blueRef = input_-&gt;points[(*indices_)[index]].b;</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160; </div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;    <span class="keywordtype">float</span> LRef, aRef, bRef;</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160; </div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;    RGB2CIELAB (redRef, greenRef, blueRef, LRef, aRef, bRef);</div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;    LRef /= 100.0f;</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;    aRef /= 120.0f;</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;    bRef /= 120.0f;    <span class="comment">//normalized LAB components (0&lt;L&lt;1, -1&lt;a&lt;1, -1&lt;b&lt;1)</span></div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160; </div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i_idx = 0; i_idx &lt; indices.size (); ++i_idx)</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;    {</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;      <span class="comment">//unsigned char red = surface_-&gt;points[indices[i_idx]].rgba &gt;&gt; 16 &amp; 0xFF;</span></div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;      <span class="comment">//unsigned char green = surface_-&gt;points[indices[i_idx]].rgba &gt;&gt; 8 &amp; 0xFF;</span></div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;      <span class="comment">//unsigned char blue = surface_-&gt;points[indices[i_idx]].rgba &amp; 0xFF;</span></div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> red = surface_-&gt;points[indices[i_idx]].r;</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> green = surface_-&gt;points[indices[i_idx]].g;</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> blue = surface_-&gt;points[indices[i_idx]].b;</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160; </div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;      <span class="keywordtype">float</span> L, a, b;</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160; </div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;      RGB2CIELAB (red, green, blue, L, a, b);</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;      L /= 100.0f;</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;      a /= 120.0f;</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;      b /= 120.0f;   <span class="comment">//normalized LAB components (0&lt;L&lt;1, -1&lt;a&lt;1, -1&lt;b&lt;1)</span></div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160; </div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;      <span class="keywordtype">double</span> colorDistance = (fabs (LRef - L) + ((fabs (aRef - a) + fabs (bRef - b)) / 2)) /3;</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160; </div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;      <span class="keywordflow">if</span> (colorDistance &gt; 1.0)</div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;        colorDistance = 1.0;</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;      <span class="keywordflow">if</span> (colorDistance &lt; 0.0)</div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;        colorDistance = 0.0;</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160; </div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;      binDistanceColor[i_idx] = colorDistance * nr_color_bins_;</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;    }</div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;  }</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160; </div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;  <span class="comment">//Apply quadrilinear interpolation on the activated bins in the shape and/or color histogram(s)</span></div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160; </div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;  <span class="keywordflow">if</span> (b_describe_shape_ &amp;&amp; b_describe_color_)</div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;    interpolateDoubleChannel (indices, sqr_dists, index, binDistanceShape, binDistanceColor,</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;                              nr_shape_bins_, nr_color_bins_,</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;                              shot);</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (b_describe_color_)</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;    interpolateSingleChannel (indices, sqr_dists, index, binDistanceColor, nr_color_bins_, shot);</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;    interpolateSingleChannel (indices, sqr_dists, index, binDistanceShape, nr_shape_bins_, shot);</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160; </div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;  <span class="comment">// Normalize the final histogram</span></div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;  this-&gt;normalizeHistogram (shot, descLength_);</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;}</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160; </div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00734"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation.html#ab203706a9af671e21552149fbc58bfdf">  734</a></span>&#160;<a class="code" href="classpcl_1_1_s_h_o_t_estimation.html#ab203706a9af671e21552149fbc58bfdf">pcl::SHOTEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::computePointSHOT</a> (</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> index, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, <span class="keyword">const</span> std::vector&lt;float&gt; &amp;sqr_dists, Eigen::VectorXf &amp;shot)</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;{</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;  <span class="comment">//Skip the current feature if the number of its neighbors is not sufficient for its description</span></div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;  <span class="keywordflow">if</span> (indices.size () &lt; 5)</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;  {</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::%s::computePointSHOT] Warning! Neighborhood has less than 5 vertexes. Aborting description of point with index %d\n&quot;</span>,</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;                  getClassName ().c_str (), (*indices_)[index]);</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160; </div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;    shot.setConstant(descLength_, 1, std::numeric_limits&lt;float&gt;::quiet_NaN () );</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160; </div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;  }</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160; </div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;   <span class="comment">// Clear the resultant shot</span></div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;  std::vector&lt;double&gt; binDistanceShape;</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;  this-&gt;createBinDistanceShape (index, indices, binDistanceShape);</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160; </div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;  <span class="comment">// Interpolate</span></div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;  shot.setZero ();</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;  interpolateSingleChannel (indices, sqr_dists, index, binDistanceShape, nr_shape_bins_, shot);</div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160; </div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;  <span class="comment">// Normalize the final histogram</span></div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;  this-&gt;normalizeHistogram (shot, descLength_);</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;}</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160; </div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00764"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation.html#a0f63f9aa8314e493db68a5ed89ec44f8">  764</a></span>&#160;<a class="code" href="classpcl_1_1_s_h_o_t_estimation.html#a0f63f9aa8314e493db68a5ed89ec44f8">pcl::SHOTEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output)</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;{</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;  descLength_ = nr_grid_sector_ * (nr_shape_bins_+1);</div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160; </div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;  sqradius_ = search_radius_ * search_radius_;</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;  radius3_4_ = (search_radius_*3) / 4;</div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;  radius1_4_ = search_radius_ / 4;</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;  radius1_2_ = search_radius_ / 2;</div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160; </div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;  assert(descLength_ == 352);</div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160; </div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;  shot_.setZero (descLength_);</div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160; </div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;  <span class="comment">// Allocate enough space to hold the results</span></div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;  <span class="comment">// \note This resize is irrelevant for a radiusSearch ().</span></div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;  std::vector&lt;int&gt; nn_indices (k_);</div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;  std::vector&lt;float&gt; nn_dists (k_);</div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160; </div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;  <span class="comment">// Iterating over the entire index vector</span></div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; indices_-&gt;size (); ++idx)</div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;  {</div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;    <span class="keywordtype">bool</span> lrf_is_nan = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;    <span class="keyword">const</span> PointRFT&amp; current_frame = (*frames_)[idx];</div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;    <span class="keywordflow">if</span> (!pcl_isfinite (current_frame.x_axis[0]) ||</div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;        !pcl_isfinite (current_frame.y_axis[0]) ||</div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;        !pcl_isfinite (current_frame.z_axis[0]))</div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;    {</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;      PCL_WARN (<span class="stringliteral">&quot;[pcl::%s::computeFeature] The local reference frame is not valid! Aborting description of point with index %d\n&quot;</span>,</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;        getClassName ().c_str (), (*indices_)[idx]);</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;      lrf_is_nan = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;    }</div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160; </div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;    <span class="keywordflow">if</span> (!isFinite ((*input_)[(*indices_)[idx]]) ||</div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;        lrf_is_nan ||</div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;        this-&gt;searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;    {</div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;      <span class="comment">// Copy into the resultant cloud</span></div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; descLength_; ++d)</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].descriptor[d] = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; 9; ++d)</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].rf[d] = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160; </div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;    }</div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160; </div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;    <span class="comment">// Estimate the SHOT descriptor at each patch</span></div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;    computePointSHOT (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (idx), nn_indices, nn_dists, shot_);</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160; </div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;    <span class="comment">// Copy into the resultant cloud</span></div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; descLength_; ++d)</div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].descriptor[d] = shot_[d];</div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;    for (<span class="keywordtype">int</span> d = 0; d &lt; 3; ++d)</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;    {</div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].rf[d + 0] = frames_-&gt;points[idx].x_axis[d];</div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].rf[d + 3] = frames_-&gt;points[idx].y_axis[d];</div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].rf[d + 6] = frames_-&gt;points[idx].z_axis[d];</div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;    }</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;  }</div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;}</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160; </div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00830"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation.html#a0bcbce40ea2c5ed9df98148e62261e49">  830</a></span>&#160;<a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html#a0bcbce40ea2c5ed9df98148e62261e49">pcl::SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output)</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;{</div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;  <span class="comment">// Compute the current length of the descriptor</span></div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;  descLength_ = (b_describe_shape_) ? nr_grid_sector_*(nr_shape_bins_+1) : 0;</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;  descLength_ +=   (b_describe_color_) ? nr_grid_sector_*(nr_color_bins_+1) : 0;</div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160; </div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;  assert( (!b_describe_color_ &amp;&amp; b_describe_shape_ &amp;&amp; descLength_ == 352) ||</div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;          (b_describe_color_ &amp;&amp; !b_describe_shape_ &amp;&amp; descLength_ == 992) ||</div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;          (b_describe_color_ &amp;&amp; b_describe_shape_ &amp;&amp; descLength_ == 1344)</div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;        );</div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160; </div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;  <span class="comment">// Useful values</span></div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;  sqradius_ = search_radius_*search_radius_;</div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;  radius3_4_ = (search_radius_*3) / 4;</div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;  radius1_4_ = search_radius_ / 4;</div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;  radius1_2_ = search_radius_ / 2;</div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160; </div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;  shot_.setZero (descLength_);</div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160; </div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;  <span class="comment">// Allocate enough space to hold the results</span></div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;  <span class="comment">// \note This resize is irrelevant for a radiusSearch ().</span></div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;  std::vector&lt;int&gt; nn_indices (k_);</div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;  std::vector&lt;float&gt; nn_dists (k_);</div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160; </div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;  <span class="comment">// Iterating over the entire index vector</span></div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; indices_-&gt;size (); ++idx)</div>
<div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;  {</div>
<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;    <span class="keywordtype">bool</span> lrf_is_nan = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;    <span class="keyword">const</span> PointRFT&amp; current_frame = (*frames_)[idx];</div>
<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;    <span class="keywordflow">if</span> (!pcl_isfinite (current_frame.x_axis[0]) ||</div>
<div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;        !pcl_isfinite (current_frame.y_axis[0]) ||</div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;        !pcl_isfinite (current_frame.z_axis[0]))</div>
<div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160;    {</div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;      PCL_WARN (<span class="stringliteral">&quot;[pcl::%s::computeFeature] The local reference frame is not valid! Aborting description of point with index %d\n&quot;</span>,</div>
<div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;        getClassName ().c_str (), (*indices_)[idx]);</div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;      lrf_is_nan = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160;    }</div>
<div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160; </div>
<div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160;    <span class="keywordflow">if</span> (!isFinite ((*input_)[(*indices_)[idx]]) ||</div>
<div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160;        lrf_is_nan ||</div>
<div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;        this-&gt;searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)</div>
<div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160;    {</div>
<div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;      <span class="comment">// Copy into the resultant cloud</span></div>
<div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; descLength_; ++d)</div>
<div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].descriptor[d] = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; 9; ++d)</div>
<div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].rf[d] = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160; </div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;    }</div>
<div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160; </div>
<div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;    <span class="comment">// Compute the SHOT descriptor for the current 3D feature</span></div>
<div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;    computePointSHOT (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (idx), nn_indices, nn_dists, shot_);</div>
<div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160; </div>
<div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;    <span class="comment">// Copy into the resultant cloud</span></div>
<div class="line"><a name="l00887"></a><span class="lineno">  887</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; descLength_; ++d)</div>
<div class="line"><a name="l00888"></a><span class="lineno">  888</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].descriptor[d] = shot_[d];</div>
<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;    for (<span class="keywordtype">int</span> d = 0; d &lt; 3; ++d)</div>
<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;    {</div>
<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].rf[d + 0] = frames_-&gt;points[idx].x_axis[d];</div>
<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].rf[d + 3] = frames_-&gt;points[idx].y_axis[d];</div>
<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].rf[d + 6] = frames_-&gt;points[idx].z_axis[d];</div>
<div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;    }</div>
<div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160;  }</div>
<div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;}</div>
<div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160; </div>
<div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_SHOTEstimationBase(T,NT,OutT,RFT) template class PCL_EXPORTS pcl::SHOTEstimationBase&lt;T,NT,OutT,RFT&gt;;</span></div>
<div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_SHOTEstimation(T,NT,OutT,RFT) template class PCL_EXPORTS pcl::SHOTEstimation&lt;T,NT,OutT,RFT&gt;;</span></div>
<div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_SHOTColorEstimation(T,NT,OutT,RFT) template class PCL_EXPORTS pcl::SHOTColorEstimation&lt;T,NT,OutT,RFT&gt;;</span></div>
<div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160; </div>
<div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_FEATURES_IMPL_SHOT_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> feature.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_with_local_reference_frames_html"><div class="ttname"><a href="classpcl_1_1_feature_with_local_reference_frames.html">pcl::FeatureWithLocalReferenceFrames</a></div><div class="ttdoc">FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...</div><div class="ttdef"><b>Definition:</b> feature.h:448</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_html"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation.html">pcl::SHOTColorEstimation</a></div><div class="ttdoc">SHOTColorEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a giv...</div><div class="ttdef"><b>Definition:</b> shot.h:299</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_html_a00c3aac15b5c3380c00af9d77503ee5b"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation.html#a00c3aac15b5c3380c00af9d77503ee5b">pcl::SHOTColorEstimation::interpolateDoubleChannel</a></div><div class="ttdeci">void interpolateDoubleChannel(const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;sqr_dists, const int index, std::vector&lt; double &gt; &amp;binDistanceShape, std::vector&lt; double &gt; &amp;binDistanceColor, const int nr_bins_shape, const int nr_bins_color, Eigen::VectorXf &amp;shot)</div><div class="ttdoc">Quadrilinear interpolation; used when color and shape descriptions are both activated</div><div class="ttdef"><b>Definition:</b> shot.hpp:430</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_html_a0bcbce40ea2c5ed9df98148e62261e49"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation.html#a0bcbce40ea2c5ed9df98148e62261e49">pcl::SHOTColorEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by ...</div><div class="ttdef"><b>Definition:</b> shot.hpp:830</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_html_aa2795a6b04586ac3b1a551a5b7b05aef"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation.html#aa2795a6b04586ac3b1a551a5b7b05aef">pcl::SHOTColorEstimation::computePointSHOT</a></div><div class="ttdeci">virtual void computePointSHOT(const int index, const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;sqr_dists, Eigen::VectorXf &amp;shot)</div><div class="ttdoc">Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with no...</div><div class="ttdef"><b>Definition:</b> shot.hpp:646</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_html_aaab0f015a6f8f926ef2695ba272b4f18"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation.html#aaab0f015a6f8f926ef2695ba272b4f18">pcl::SHOTColorEstimation::RGB2CIELAB</a></div><div class="ttdeci">static void RGB2CIELAB(unsigned char R, unsigned char G, unsigned char B, float &amp;L, float &amp;A, float &amp;B2)</div><div class="ttdoc">Converts RGB triplets to CIELab space.</div><div class="ttdef"><b>Definition:</b> shot.hpp:97</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_a5e9c4e5f19878d636ce2c6b28c636fd2"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#a5e9c4e5f19878d636ce2c6b28c636fd2">pcl::SHOTEstimationBase::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> shot.hpp:158</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_a61daefe73f28310f3c97a561b905c2ef"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#a61daefe73f28310f3c97a561b905c2ef">pcl::SHOTEstimationBase::normalizeHistogram</a></div><div class="ttdeci">void normalizeHistogram(Eigen::VectorXf &amp;shot, int desc_length)</div><div class="ttdoc">Normalize the SHOT histogram.</div><div class="ttdef"><b>Definition:</b> shot.hpp:238</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_aa83ce6c4529df2561a45f129354ef935"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#aa83ce6c4529df2561a45f129354ef935">pcl::SHOTEstimationBase::interpolateSingleChannel</a></div><div class="ttdeci">void interpolateSingleChannel(const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;sqr_dists, const int index, std::vector&lt; double &gt; &amp;binDistance, const int nr_bins, Eigen::VectorXf &amp;shot)</div><div class="ttdoc">Quadrilinear interpolation used when color and shape descriptions are NOT activated simultaneously</div><div class="ttdef"><b>Definition:</b> shot.hpp:255</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_ae69b1265449ec2c727f54e4308d6178d"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#ae69b1265449ec2c727f54e4308d6178d">pcl::SHOTEstimationBase::createBinDistanceShape</a></div><div class="ttdeci">void createBinDistanceShape(int index, const std::vector&lt; int &gt; &amp;indices, std::vector&lt; double &gt; &amp;bin_distance_shape)</div><div class="ttdoc">Create a binned distance shape histogram</div><div class="ttdef"><b>Definition:</b> shot.hpp:194</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_html_a0f63f9aa8314e493db68a5ed89ec44f8"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation.html#a0f63f9aa8314e493db68a5ed89ec44f8">pcl::SHOTEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by ...</div><div class="ttdef"><b>Definition:</b> shot.hpp:764</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_html_ab203706a9af671e21552149fbc58bfdf"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation.html#ab203706a9af671e21552149fbc58bfdf">pcl::SHOTEstimation::computePointSHOT</a></div><div class="ttdeci">virtual void computePointSHOT(const int index, const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;sqr_dists, Eigen::VectorXf &amp;shot)</div><div class="ttdoc">Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with no...</div><div class="ttdef"><b>Definition:</b> shot.hpp:734</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_local_reference_frame_estimation_html"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_local_reference_frame_estimation.html">pcl::SHOTLocalReferenceFrameEstimation</a></div><div class="ttdoc">SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the ...</div><div class="ttdef"><b>Definition:</b> shot_lrf.h:67</div></div>
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